feat(lane_change): reduce prepare duration when blinker has been activated #9185

mkquda · 2024-10-30T05:28:00Z

Description

Currently, a constant prepare duration (parameterized) is being used when generating LC path candidates, this was necessary because until recently turn signal was activated only after LC path was approved.

However, LC turn signal logic was recently changed to activate as soon as we have the intention to change lanes (i.e: when LC module is run). Therefore it is no longer necessary to have a constant long prepare duration, and we can reduce the prepare duration as the turn signal on duration increases.

Changes

Add member variable signal_activation_time_ to LaneChangeBase class
Add member variable lane_change_prepare_duration to TransientData struct
Add function calc_actual_prepare_duration to calculate actual needed prepare duration based on current velocity and signal on duration
Modify function update_transient_data to set lane_change_prepare_duration

How was this PR tested?

PSIM
TIER IV Internal Evaluation

Notes for reviewers

None.

Interface changes

None.

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	`min_prepare_duration`	`double`	`1.0`	Minimum preparation time for the ego vehicle to be ready to perform lane change
Added	`lane_changing_decel_factor`	`double`	`0.5`	longitudinal deceleration factor during lane changing phase

Modifications

Version	Parameter Name	Type	Default Value	Description
Old	`prepare_duration`	`double`	`4.0`	Preparation time for the ego vehicle to be ready to perform lane change
New	`max_prepare_duration`	`double`	`4.0`	Maximum preparation time for the ego vehicle to be ready to perform lane change

Effects on system behavior

When LC module activates, initially prepare duration will be max, as signal activation duration increases, prepare duration will be gradually reduced to minimum, allowing a shorter LC path to be found.

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

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planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp

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…vated (autowarefoundation#9185) * add minimum prepare duration parameter Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * reduce prepare duration according to signal activation time Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * chore: update CODEOWNERS (autowarefoundation#9203) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * refactor(time_utils): prefix package and namespace with autoware (autowarefoundation#9173) * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(rtc_interface): add requested field (autowarefoundation#9202) * add requested feature Signed-off-by: Go Sakayori <gsakayori@gmail.com> * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Signed-off-by: Go Sakayori <gsakayori@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (autowarefoundation#9199) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(bpp): prevent accessing nullopt (autowarefoundation#9204) fix(bpp): calcDistanceToRedTrafficLight null Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (autowarefoundation#9201) * refactor: grouping functions Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: grouping parameters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: rename member road_users_history to road_users_history_ Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: separate util functions Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: Add explicit template instantiation for removeOldObjectsHistory function Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: Add tf2_geometry_msgs to data_structure Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: Remove unused variables and functions in map_based_prediction_node.cpp Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp * Apply suggestions from code review * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (autowarefoundation#8912) * Moved ndt_omp into ndt_scan_matcher Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added Copyright Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed cast style Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed include Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed honorific title Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed honorific title Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed hierarchy Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed NVTP to NVTL Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added cspell:ignore Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed miss spell Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Renamed applyFilter Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Moved ***_impl.hpp from include/ to src/ Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed variable scope Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to pass by reference Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> --------- Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_test_utils): add traffic light msgs parser (autowarefoundation#9177) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * modify implementation to compute and keep actual prepare duration in transient data Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * if LC path is approved, set prepare duration in transient data from approved path prepare duration Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * change default value of LC param min_prepare_duration Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * add function to set signal activation time, add docstring for function calc_actual_prepare_duration Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * check for zero value max_acc to 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Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix format Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * run pre-commit check Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix spelling Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix format Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Signed-off-by: Go Sakayori <gsakayori@gmail.com> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: 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allow decelerating in lane changing phase near terminal

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mkquda merged commit 0992f1d into autowarefoundation:main Dec 5, 2024
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mkquda deleted the RT1-8204-reduce-prepare-duration-when-blinker-has-been-activated branch December 5, 2024 00:05

zulfaqar-azmi-t4 mentioned this pull request Dec 10, 2024

revert(CODEOWNERS): revert accidental rename #9605

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feat(lane_change): reduce prepare duration when blinker has been activated #9185

feat(lane_change): reduce prepare duration when blinker has been activated #9185

mkquda commented Oct 30, 2024 •

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github-actions bot commented Oct 30, 2024 •

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feat(lane_change): reduce prepare duration when blinker has been activated #9185

feat(lane_change): reduce prepare duration when blinker has been activated #9185

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mkquda commented Oct 30, 2024 • edited Loading

Description

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Interface changes

ROS Parameter Changes

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mkquda commented Oct 30, 2024 •

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